#!/bin/bash
rosservice call /finish_trajectory 0
sleep 5
rosservice call /write_state "{filename: '${HOME}/Disk/map1105.pbstream'}"
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Disk/map1105 -pbstream_filename=${HOME}/Disk/map1105.pbstream -resolution=0.05


